Robust feedback linearization of a quadrotor

Abstract

Classical feedback linearization which transforms the original nonlinear system into a Brunovsky form has poor robustness properties and cannot be easily combined with H∞ type control law. We propose here to transform by feedback the original nonlinear system into its tangent linearized system around an operating point, and prove that this allows to preserve the good robustness properties obtained by a linear control law which it is associated with. This method constitutes a way of robustly controlling an uncertain nonlinear system around an operating point.